High-precision circuit board inserting frame plate taking and placing machine and conveying system thereof

Abstract

The application discloses a high-precision circuit board inserting frame taking and placing machine and a conveying system thereof, which comprises a first conveying mechanism and a second conveying mechanism for conveying an inserting frame and a circuit board, and further comprises an opening and clamping assembly, an inserting frame assembly and a translation assembly connected with the first conveying mechanism. The opening and clamping assembly comprises a high-precision driving part and a pushing part connected with the high-precision driving part, and the high-precision driving part is used for driving the pushing part to push a clamp to open a storage slot of the inserting frame. The inserting frame assembly comprises an inserting frame part connected with the first conveying mechanism, and the translation assembly is connected with the first conveying mechanism and used for adjusting the positional relationship between the inserting frame part and the inserting frame. The inserting frame part is used for feeding and taking out the circuit board into and out of the storage slot of the inserting frame. The opening and closing degree of the storage slot is consistent by controlling the high-precision driving part and the pushing part, and the inserting frame part is aligned with the storage slot by the translation assembly, so that the problem that the circuit board is damaged due to friction and clamping of the circuit board during the process of inserting or taking out the inserting frame is solved.

Description

Technical Field

[0001] This invention relates to the field of circuit board technology, and in particular to a high-precision circuit board insertion frame pick-and-place machine and its conveying system. Background Technology

[0002] With the development of industrial modernization, more and more products are produced using production lines, and PCB circuit boards are widely used in the field of electronic technology.

[0003] In the PCB board desmearing process, a clamping and retracting mechanism is usually used to transfer the board. Specifically, the retracting mechanism inserts the board from the previous process into the insertion frame, then performs the desmearing process on the insertion frame. After the desmearing process is completed, the retracting mechanism removes the board from the insertion frame and transfers it to the next process, thus realizing the clamping and retracting function.

[0004] In addition, traditional frame insertion and take-up machines are generally used to replace manual labor to achieve semi-automatic or fully automatic frame insertion and take-up of PCB boards. However, most current frame insertion and take-up machines focus on achieving automation functions and rarely consider the positioning accuracy between the frame insertion mechanism and the gripping mechanism. This results in inaccurate frame insertion mechanism, which in turn causes friction or even jamming between the PCB board and the frame insertion mechanism, damaging the PCB board.

[0005] To address the problem of PCB board damage during insertion due to low precision of the insertion mechanism, it is necessary to propose a high-precision PCB board insertion and loading machine and its conveying system. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies, this invention provides a high-precision circuit board insertion frame pick-and-place machine and its conveying system.

[0007] Firstly, the technical solution of the present invention is as follows:

[0008] A high-precision circuit board insertion frame pick-and-place machine includes a first conveying mechanism and a second conveying mechanism for conveying insertion frames and circuit boards, and also includes an opening clamping assembly connected to the first conveying mechanism. The opening clamping assembly includes a high-precision driving component and a pushing component connected to the high-precision driving component. The high-precision driving component is used to drive the pushing component to push the clamp to open the storage slot of the insertion frame.

[0009] The insertion frame assembly and the translation assembly are connected to the first conveying mechanism. The insertion frame assembly includes an insertion frame member, which is connected to the first conveying mechanism. The translation assembly is connected to the first conveying mechanism. The translation assembly is used to adjust the relative position between the insertion frame member and the insertion frame. The insertion frame member is used to feed the circuit board into and take out the insertion frame storage slot.

[0010] In one possible implementation, the insert frame includes a clamping plate, a clamping hook, and a telescopic cylinder corresponding to the clamping hook. The clamping hook is rotatably connected to the clamping plate, and the telescopic cylinder is used to drive the clamping hook to clamp the circuit board at the transition position or in the insert frame storage slot.

[0011] In one possible implementation, the insert frame assembly further includes a tension member and a lifting member, the tension member being connected to the lifting member, and the tension member being used to straighten the circuit board held by the clamping hook;

[0012] The clamping plate is connected to the lifting member, which is used to drive the clamping member and the stretching member to move up and down.

[0013] In one possible implementation, the first conveying mechanism further includes a positioning component, which includes a positioning drive and a positioning clamp connected to the positioning drive, wherein the positioning drive drives the positioning clamp to position and fix the insert frame.

[0014] In one possible implementation, the first conveying mechanism further includes a conveying roller, a lifting member, a limiting member, and a clamping member. The lifting member, the limiting member, and the clamping member are respectively connected to the conveying roller. The limiting member is used to stop the insertion frame from moving on the conveying roller. The clamping member is used to cooperate with the limiting member to clamp and limit the stopped insertion frame. The lifting member is used to lift the stopped insertion frame away from the conveying roller.

[0015] In one possible implementation, the second conveying mechanism further includes a conveyor belt assembly and angle correction members disposed on both sides of the conveyor belt assembly. The angle correction members are connected to the conveyor belt assembly and are used to correct the angle of the circuit board moving on the conveyor belt.

[0016] The second conveying mechanism further includes a lifting member located at the end of the conveyor belt assembly. The lifting member includes a lifting cylinder and a lifting disc connected to the lifting cylinder. The lifting cylinder is used to drive the lifting disc to lift the circuit board away from the conveyor belt assembly.

[0017] In one possible implementation, the board picker further includes a flipping assembly for gripping and transferring the circuit board. The flipping assembly includes a flipping body with a plurality of suction nozzles for negative pressure adsorption of the upper surface of the circuit board.

[0018] In one possible implementation, the flipping assembly further includes a clamping arm and a straightening member, the clamping arm being connected to the flipping body and used to abut against the lower end face of the circuit board.

[0019] The straightening component is connected to the flipping body and is used to straighten the circuit board to prevent it from bending.

[0020] Secondly, the present invention also proposes a conveying system, including the high-precision circuit board frame pick-and-place machine described above, specifically including a first pick-and-place machine and a second pick-and-place machine, and further including a board receiving mechanism, a board feeding mechanism, a frame docking mechanism, and a frame circulation mechanism. The output ends of the board receiving mechanism and the frame circulation mechanism are respectively docked with the first pick-and-place machine. The first pick-and-place machine is used to transfer the circuit board fed by the board receiving mechanism to the frame fed by the frame circulation mechanism.

[0021] The input ends of the board feeding mechanism and the frame circulation mechanism are respectively connected to the second board picker and place machine. The second board picker and place machine is used to transfer the circuit board in the frame to the board feeding mechanism so that the frame circulation mechanism can temporarily store the empty frame and then transport it to the first board picker and place machine.

[0022] The two ends of the insertion frame docking mechanism are respectively docked with the first board picker and the second board picker. The insertion frame docking mechanism is used to transfer the insertion frame filled with circuit boards in the first board picker to the next process, and to transfer the insertion frame after the next process is completed to the second board picker.

[0023] In one possible implementation, the insertion frame circulation mechanism includes a plurality of storage cabinets, each storage cabinet including storage positions arranged in multiple layers in the height direction, an insertion frame conveyor belt, and an insertion frame lifting assembly. The input end of the insertion frame conveyor belt is connected to the second pick-and-place machine, and the output end of the insertion frame conveyor belt is connected to the first pick-and-place machine. The insertion frame conveyor belt is used to drive the insertion frames to move horizontally.

[0024] The insertion frame lifting assembly is arranged perpendicular to the insertion frame conveyor belt. The insertion frame lifting assembly is used to move the insertion frames on the insertion frame conveyor belt vertically, so that the insertion frames are transferred to the storage positions arranged in multiple layers.

[0025] According to the above-described solution, the beneficial effects of this invention are as follows: a high-precision circuit board insertion frame pick-and-place machine and its conveying system include an opening clamping assembly, a translation assembly, and an insertion frame assembly. The opening clamping assembly includes a high-precision driving component and a pushing component. The insertion frame assembly includes insertion frame components. The high-precision driving component uses a servo motor and lead screw moving structure to drive the pushing component to accurately open or close the storage slots, ensuring that the opening and closing degree of each storage slot remains consistent. In addition, combined with the translation assembly, the positional relationship between the insertion frame components and the insertion frames can be adjusted, allowing the insertion frame components to move and accurately align with the opening of each storage slot. This reduces friction or jamming between the circuit board and the storage plates on both sides of the storage slot when the insertion frame components insert or remove the circuit board from the storage slot, thereby reducing the damage rate of the circuit board when inserting or removing it from the insertion frame. Attached Figure Description

[0026] Figure 1 This is a top view of the first conveying mechanism, clamping assembly, positioning assembly, and insertion frame in this invention;

[0027] Figure 2 This is a side view of the first conveying mechanism and the insert frame in this invention;

[0028] Figure 3 This is a side view of the clamping assembly in this invention;

[0029] Figure 4 This is a side view of the positioning component in this invention;

[0030] Figure 5 This is the front view of the insert frame component in this invention;

[0031] Figure 6 This is a side view of the insert frame component in this invention;

[0032] Figure 7 This is a top view of the first conveying mechanism and the insert frame in this invention;

[0033] Figure 8 This is a side view of the first conveying mechanism and the insert frame in this invention;

[0034] Figure 9 This is a side view of the conveying roller component, lifting component, limiting component, clamping component, and insert frame in this invention;

[0035] Figure 10 This is a top view of the second conveying mechanism and the circuit board in this invention;

[0036] Figure 11 This is a side view of the second conveying mechanism and the circuit board in this invention;

[0037] Figure 12 This is a side view of the suction cup assembly and circuit board in this invention;

[0038] Figure 13 This is a top view of the suction cup assembly and circuit board in this invention;

[0039] Figure 14 This is a side view of the lifting assembly in this invention;

[0040] Figure 15 This is a side view of the translation component in this invention;

[0041] Figure 16 This is a schematic diagram of the conveying system in this invention;

[0042] Figure 17 This is a schematic diagram of the frame insertion and circulation mechanism in this invention;

[0043] Figure 18This is a schematic diagram of the insertion frame circulation mechanism in this invention from another angle.

[0044] In the diagram:

[0045] 100. Insert frame; 101. Storage slot; 200. Circuit board; 300. First conveying mechanism; 400. Second conveying mechanism; 500. First board pick-and-place machine; 501. Second board pick-and-place machine; 600. Board receiving mechanism; 700. Board feeding mechanism; 800. Insert frame docking mechanism; 900. Insert frame circulation mechanism; 91. Storage cabinet; 911. Storage position; 912. Insert frame conveyor belt; 913. Insert frame lifting assembly; 914. Insert frame transplanting assembly; 10. Clamping assembly; 11. High-precision drive component; 12. Pushing component; 20. Insert frame assembly; 21. Insert frame component; 211. Clamping plate; 212 1. Clamping hook; 213. Telescopic cylinder; 22. Stretching component; 23. Lifting component; 30. Positioning assembly; 31. Positioning drive component; 32. Positioning clamping component; 40. Conveying roller component; 41. Lifting component; 42. Limiting component; 43. Clamping component; 50. Conveyor belt assembly; 51. Angle correction component; 52. Lifting component; 521. Lifting cylinder; 522. Lifting plate; 60. Tilting assembly; 61. Tilting main body; 62. Suction nozzle component; 63. Clamping arm component; 631. Clamping arm cylinder; 632. Clamping arm; 64. Straightening component; 70. Lifting assembly; 71. Tilting drive motor; 80. Translation assembly. Detailed Implementation

[0046] The present invention will now be further described with reference to the accompanying drawings and embodiments:

[0047] It should be noted that the insert frame 100 is a device for storing circuit boards 200. The insert frame 100 has a circuit board 200 storage slot 101 with an opening facing upwards. The insert frame board receiving and unloading machine is used to grab the circuit boards 200 on the conveyor belt and put them into the storage slot 101 of the insert frame 100, and to remove the circuit boards 200 from the storage slot 101. The storage slot 101 is formed by storage plates on both sides. Specifically, the circuit boards 200 are placed sequentially in the main body of the storage slot 101. Rotating clamps are provided on both sides of the corresponding storage plates, and the rotating clamps are rotatably connected to the main body of the storage slot 101. One end of the rotating clamp rotates, causing the other end to move in the opposite direction, thereby pushing the storage plate and opening the storage slot 101 between adjacent storage plates. In addition, when the pushing force of the rotating clamp is removed, the rotating clamp returns to its original position and moves the storage plate in the return direction. At the same time, when a circuit board 200 is placed in the storage slot 101, the rotating clamp can move the storage plate to release the clamping of the circuit board 200, thereby facilitating the removal of the circuit board 200.

[0048] In the process of the PCB board grabbing mechanism in the board receiving and discharging machine grabbing the PCB board 200 from the feeding mechanism and inserting it into the storage slot 101 of the insertion frame 100, the following problems are prone to occur: 1. The placement angles of the various PCB boards 200 on the feeding mechanism are inconsistent, resulting in different angles at which the grabbing mechanism grabs the PCB board 200, which in turn easily causes friction between the PCB board 200 and the storage slot 101 when it is inserted into the insertion frame 100; 2. The positioning error of the insertion frame 100 is large, causing the PCB board 200 to easily rub against the storage slot 101 when the grabbing mechanism puts the PCB board 200 into and takes it out of the storage slot 101. The aforementioned defects cause jamming and friction issues. As a result, during the use of traditional board insertion and loading machines, the relative position and angle between the board 200 and the insertion frame 100 deviate when the gripping mechanism picks up and transfers the board 200. This leads to friction or even jamming between the PCB board 200 and the clamping structure when it enters the insertion frame 100 mechanism, causing damage to the PCB board 200. In order to improve the above-mentioned problems, this invention discloses a high-precision board insertion and loading machine and its conveying system.

[0049] Firstly, such as Figures 1 to 15 As shown, this invention discloses a high-precision circuit board insertion frame pick-and-place machine, including a first conveying mechanism 300 and a second conveying mechanism 400 for conveying insertion frames 100 and circuit boards 200, and also includes an opening clamping assembly 10, a translational assembly 80 and an insertion frame assembly 20. The opening clamping assembly 10 is connected to the first conveying mechanism 300 and includes a high-precision driving component 11 and a pushing component 12 connected to the high-precision driving component 11. The high-precision driving component 11 is used to drive the pushing component 12 to push the clamp to open the storage slot 101 of the insertion frame 100. In addition, the insertion frame assembly 20 includes an insertion frame component 21, which is connected to the first conveying mechanism 300. The translational assembly 80 is connected to the first conveying mechanism 300 and is used to adjust the relative position between the insertion frame component 21 and the insertion frame 100. The insertion frame component 21 is used to send or take out the circuit board 200 into or out of the insertion frame 100 storage slot 101.

[0050] In this embodiment, reference Figure 1-3The first conveying mechanism 300 is used to convey the insert frame 100 to the positioning position. Specifically, when the insert frame 100 is conveyed to the positioning position, the sensor identifies its position and sends an arrival identification command to the control terminal to stop driving the first conveying mechanism 300. The positioning position is provided with clamping components 10 at both ends. High-precision drive components 11 are bolted to both sides of the first conveying mechanism 300, and the output end of the high-precision drive component 11 is connected to the push component 12. The high-precision drive components 11 on both sides drive the corresponding push components 12 to move in the same direction, and the speed and moving distance are the same. The movement of the push component 12 causes the clamp on the insert frame 100 to move, thereby opening the storage slot 101 of the insert frame 100. Specifically, the storage plates on both sides of the storage slot 101 move the same distance, thereby ensuring that the opening and closing degree of each storage slot 101 is equal, avoiding interference or friction between the circuit board 200 and the clamp due to different opening and closing degrees of the storage slot 101 when the circuit board 200 is inserted or removed.

[0051] Additionally, refer to Figure 5 , Figure 6 and Figure 15 The insertion frame assembly 20 is connected to the first conveying mechanism 300. The insertion frame assembly 20 includes an insertion frame member 21, which is located above the insertion frame 100. The insertion frame member 21 is used to clamp the circuit board 200 and place or remove it from the storage slot 101. In addition, a translation component 80 is provided below the insertion frame member 21. The translation component 80 is connected to the first conveying mechanism 300 and is used to adjust the positional relationship between the storage slot 101 of the insertion frame 100 and the insertion frame member 21. Specifically, both the translation component 80 and the insertion frame 100 are provided with a sensor alignment module. When the translation component 80 moves the insertion frame member 21 to a set position, the sensor module sends a command to stop the translation component 80 from translating. At this time, the circuit board 200 on the insertion frame member 21 is located directly above the opening of the storage slot 101.

[0052] It needs to be explained that the reference Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 15The high-precision drive unit 11 includes a servo motor and a lead screw connected to the output end of the servo motor. The axis of the lead screw is parallel to the longitudinal direction of the first conveying mechanism 300, and both ends of the lead screw are rotatably connected to the first conveying mechanism 300. A pusher 12 is sleeved on the lead screw and is rotatably connected to the lead screw by a thread. The pusher 12 is located between the two ends of the lead screw and the first conveying mechanism 300, and the pusher 12 is slidably connected to the first conveying mechanism 300. By controlling the servo motor, the lead screw is rotated relative to the first conveying mechanism 300, thereby causing the pusher 12 to reciprocate along the axis of the lead screw. This causes the pusher 12 to push the clamps on both sides of the insertion frame 100 to move. The clamps drive the storage plate to move, forming a storage slot 101 for placing the circuit board 200. The high-precision drive unit 11 drives the pusher 12 to open the storage slot 101 by using the moving structure of the servo motor and the lead screw, so that each storage slot 101... The opening and closing degree of 01 is kept consistent. Combined with the structural settings of the translation component 80 and the insertion frame 21, the circuit board 200 can be accurately aligned with the opening above the storage slot 101. Therefore, through the structural settings of the high-precision drive component 11, the insertion frame 12 and the translation component 80, and the cooperation of the three, the present invention can adjust the relative position from three angles: the opening and closing size of the storage slot 101, the relative position of the circuit board 200 and the storage slot 101, and the placement position of the insertion frame 100. This solves the problem that when the circuit board 200 is inserted into or removed from the insertion frame 100, the circuit board 200 and the storage plates on both sides of the storage slot 101 are prone to jamming or friction. Thus, the present invention improves the transfer accuracy of inserting or removing the circuit board 200 into or from the insertion frame 100, thereby reducing the damage rate of the circuit board 200 during the transfer process and improving the yield of the circuit board 200 in the production process.

[0053] Further reference Figure 5 and Figure 6 The insert frame 21 includes a clamping plate 211, a clamping hook 212, and a telescopic cylinder 213. The clamping hook 212 is connected to the telescopic cylinder 213 and is rotatably connected to the clamping plate 211. The telescopic cylinder 213 is used to drive the clamping hook 212 to clamp the circuit board 200 at the transition position or in the storage slot 101 of the insert frame 100.

[0054] In this embodiment, reference Figure 5 and Figure 6The insertion frame assembly 20 includes two insertion frame pieces 21 connected to the first conveying mechanism 300. The two insertion frame pieces 21 are located on both sides of the storage slot 101. One end of the clamping plate 211 is bolted to the tensioning member 22. Both the upper and lower ends of the clamping plate 211 are screwed to be fixed with telescopic cylinders 213, and each end of the clamping plate 211 is provided with a clamping hook 212 corresponding to the telescopic cylinder 213. The clamping hook 212 is rotatably connected to the clamping plate 211. Specifically, the output ends of the telescopic cylinders 213 at both ends are oriented downwards, the opening of the upper clamping hook 212 is downwards, and the opening of the lower clamping hook 212 is upwards. The upper telescopic cylinder 213 is controlled by the control terminal to shorten the telescopic arm, thereby moving the upper clamping hook 212 downwards. The lower telescopic cylinder 213 extends the telescopic arm, causing the lower clamping hook 212 to move upward. This allows the upper and lower clamping hooks 212 to clamp the circuit board 200 located in the middle, improving the clamping stability of the insert frame 21 on the circuit board 200 and preventing the circuit board 200 from loosening or shaking during movement. By improving the clamping stability of the insert frame 21, the relative positions of the circuit board 200, the insert frame 100, and the storage slot 101 remain unchanged, reducing the risk of friction or jamming between the circuit board 200, the insert frame 100, and the storage slot 101. Thus, this invention improves the accuracy of inserting or removing the circuit board 200 from the insert frame 100.

[0055] Further reference Figure 5 and Figure 6 The insert frame assembly 20 also includes a tension member 22 and a lifting member 23. The tension member 22 is connected to the lifting member 23. The tension member 22 is used to straighten the circuit board 200 held by the clamping hook 212. The clamping plate 211 is connected to the lifting member 23. The lifting member 23 is used to drive the clamping member and the tension member 22 to move up and down.

[0056] In this embodiment, reference Figure 5The lifting member 23 is used to drive the clamping member 22, the stretching member 22, and the circuit board 200 to move vertically, so that the circuit board 200 can be inserted into or removed from the insertion frame 100 at a predetermined angle. The stretching member 22 is bolted to the lifting member 23. The stretching member 22 includes a stretching cylinder and a stretching clamp. By controlling the stretching cylinder to drive the stretching clamp to clamp and straighten the circuit board 200, it is prevented that the circuit board 200 itself bends, which would cause the bent part to rub against the storage plates on both sides of the storage slot 101 when it is inserted into or removed from the storage slot 101, thereby improving the efficiency to a certain extent. The accuracy of inserting or removing the circuit board 200 into the insertion frame 100 is improved. In addition, the lifting member 23 is fixed to the translation component 80 by connecting bolts. The translation component 80 drives the lifting member 23, the stretching member 22 and the insertion frame member 21 to perform lateral reciprocating motion, thereby adjusting the insertion frame member 21 to align with the opening of each storage slot 101. After the insertion frame member 21 clamps and fixes the circuit board 200, and the stretching member 22 straightens the circuit board 200, the lifting member 23 drives the insertion frame member 21 to descend or rise, thereby accurately inserting or removing the circuit board 200 into the insertion frame 100.

[0057] Further reference Figure 1-4 The first conveying mechanism 300 also includes a positioning component 30, which includes a positioning drive 31 and a positioning clamp 32 connected to the positioning drive 31. The positioning drive 31 drives the positioning clamp 32 to limit and fix the insertion frame 100.

[0058] In this embodiment, reference Figure 1 , Figure 2 and Figure 4 The positioning assembly 30 includes eight positioning drive components 31 and eight corresponding positioning clamping components 32. Each positioning drive component 31 includes a positioning drive cylinder, and each positioning clamping component 32 includes a positioning clamping block. The positioning clamping block is connected to the output end of the positioning drive cylinder and has two clamping wheels arranged perpendicularly to each other. The positioning drive cylinder is connected to the insertion frame component 21, controlling the extension of its telescopic arm to cause the positioning clamping block to abut against the outer side of the insertion frame 100. Specifically, the insertion frame 100 is rectangular. The body shape is such that eight positioning drive members 31 drive eight positioning clamping members 32 to abut against the eight corners of the upper and lower outer end faces of the insertion frame 100, thereby clamping and positioning the insertion frame 100. This prevents the insertion frame 100 from shifting under force when the insertion frame member 21 is opened in the storage slot 101, ensuring the precise positioning of the insertion frame 100. To a certain extent, this improves the accuracy of inserting or removing the circuit board 200 into the insertion frame 100 and avoids friction or jamming between the circuit board 200 and the storage slot 101.

[0059] Further reference Figures 7-9The first conveying mechanism 300 also includes a conveying roller 40, a lifting member 41, a limiting member 42, and a clamping member 43. The lifting member 41, the limiting member 42, and the clamping member 43 are respectively connected to the conveying roller 40. The limiting member 42 is used to stop the insertion frame 100 from moving on the conveying roller 40. The clamping member 43 is used to cooperate with the limiting member 42 to clamp and limit the stopped insertion frame 100. The lifting member 41 is used to lift the stopped insertion frame 100 so that it is detached from the conveying roller 40.

[0060] In this embodiment, reference Figure 8 and Figure 9 The conveying roller assembly 40 includes two parallel conveying supports, each with a plurality of rollers. The bottom sides of the insertion frame 100 abut against the rollers on the two conveying supports. The rollers drive the insertion frame 100 to move. A roller drive motor is located below one of the conveying supports, driving the rollers to rotate and thus moving the insertion frame 100 relative to the conveying support. The lifting member 41, the limiting member 42, and the clamping member 43 are all located between the two parallel conveying supports and are fixedly connected to the conveying supports. When the rollers move the insertion frame 100 to the designated position, a corresponding sensor identifies it and sends a stop signal to the control terminal. The control terminal stops the roller drive motor and simultaneously raises the limiting member 42 to stop the insertion frame 100. Specifically, the limiting member 42 rises to stop the insertion frame 100. The movement of the insertion frame 100 is blocked in front, which can prevent the insertion frame 100 from stopping suddenly and from tipping forward due to inertia due to its high center of gravity. Then, the lifting member 41 is raised to lift the insertion frame 100 and remove it from the roller. Finally, the clamping member 43 is moved towards the limiting member 42 and clamps the insertion frame 100 in conjunction with the limiting member 42. Thus, the insertion frame 100 is coarsely positioned by the structure of the limiting member 42, the lifting member 41 and the clamping member 43. Combined with the positioning drive member 31 driving the positioning clamping member 32, the insertion frame 100 is precisely positioned after coarse positioning. Finally, the high-precision drive member 11 drives the push member 12 to move the clamp and the storage plate to accurately open the storage slot 101. This ensures that the opening and closing degree of each storage slot 101 is consistent, avoiding friction and jamming when the circuit board 200 is inserted into or removed from the storage slot 101, and reducing the damage rate of the circuit board 200 during the insertion process of the insertion frame 100.

[0061] Further reference Figure 10 and Figure 11 The second conveying mechanism 400 also includes a conveyor belt assembly 50 and angle correction members 51 disposed on both sides of the conveyor belt assembly 50. The angle correction members 51 are connected to the conveyor belt assembly 50 and are used to correct the angle of the circuit board 200 moving on the conveyor belt.

[0062] In this embodiment, reference Figure 10 and Figure 11 The conveyor belt assembly 50 includes two parallel conveyor belt supports and several rollers connected to the conveyor belt supports. It also includes several rollers positioned in the middle of the conveyor belt supports, forming a conveyor track above the rollers for moving the circuit board 200. The rollers are used to move the circuit board 200. A conveyor belt drive motor is located below one of the conveyor belt supports, driving the rollers to rotate and thus moving the circuit board 200 relative to the conveyor belt supports. The rollers connected to the conveyor belt supports are all equipped with guards to prevent the circuit board 200 from leaving the conveyor track. Additionally, angle correction components are provided on both sides. 51 is connected and fixed to the conveyor belt bracket. The angle correction component 51 can be a guide plate. The angle correction component 51 corrects the circuit board 200 that begins to enter the conveyor track, preventing the circuit board 200 from deviating or the deviation angle from exceeding the range of the roller's edge. This ensures that after the circuit board 200 moves to the suction position, the corresponding sensor identifies it and sends identification information to the control terminal, controlling the conveyor belt drive motor to shut down. Combined with the angle correction component 51 correcting the running angle of the circuit board 200, the circuit board 200 is accurately stopped at the predetermined suction position, facilitating the next transfer process.

[0063] Further reference Figure 10 and Figure 11 The second conveying mechanism 400 also includes a lifting member 52 located at the end of the conveyor belt assembly 50. The lifting member 52 includes a lifting cylinder 521 and a lifting plate 522 connected to the lifting cylinder 521. The lifting cylinder 521 is used to drive the lifting plate 522 to lift the circuit board 200 away from the conveyor belt assembly 50.

[0064] In this embodiment, reference Figure 10 and Figure 11 The lifting component 52 is located between two parallel conveyor belt supports and is fixedly connected to the conveyor belt supports. The lifting cylinder 521 is fixedly connected to the conveyor belt supports, and the output end of the lifting cylinder 521 is connected to the lifting plate 522. Both the lifting cylinder 521 and the lifting plate 522 are located directly below the suction plate position. The lifting cylinder 521 extends its telescopic arm to drive the lifting plate 522 to lift the circuit board 200 on the suction plate position and disengage it from the roller. Specifically, the lifting plate 522 rises and abuts against multiple contact points in the grid-shaped contactable area on the circuit board 200, thereby lifting the circuit board 200 away from the roller. Combined with the angle correction component 51, the angle of the circuit board 200 during the movement is corrected so that the placement angle of the circuit board 200 lifted by the lifting plate 522 matches the position, thereby improving the accuracy of conveying the circuit board 200 and preparing for the next process.

[0065] Further reference Figure 12-14The board picker also includes a flipping assembly 60 for picking up and transferring the circuit board 200. The flipping assembly 60 includes a flipping body 61, which is provided with a plurality of suction nozzles 62. The suction nozzles 62 are used to negatively adsorb the upper surface of the circuit board 200.

[0066] In this embodiment, reference Figure 12-14 The board pick-and-place machine also includes a lifting assembly 70. The flipping body 61 is connected to the lifting assembly 70. The lifting assembly 70 drives the flipping assembly 60 to perform lifting and reciprocating motion. The flipping body 61 is provided with a plurality of suction nozzles 62, which are arranged in a circular array. The lifting assembly 70 drives the flipping body 61 and the suction nozzles 62 to descend to the height of the suction plate position. The suction nozzles 62 use negative pressure to adsorb the upper surface of the circuit board 200 at the suction plate position. This invention can uniformly adsorb the circuit board 200 through the negative pressure adsorption of the suction nozzles 62, reducing the risk of the circuit board 200 falling off during lifting and flipping.

[0067] Further reference Figure 12 and Figure 13 The flipping assembly 60 also includes a clamping arm 63 and a straightening member 64. The clamping arm 63 is connected to the flipping body 61 and is used to abut against the lower end face of the circuit board 200. The straightening member 64 is connected to the flipping body 61 and is used to straighten the circuit board 200 to prevent the circuit board 200 from bending.

[0068] In this embodiment, the flipping assembly 60 includes four clamping arms 63 and two straightening arms 64. Specifically, the flipping body 61 includes a flipping plate with several suction nozzles 62 and a flipping arm for connecting the lifting assembly 70. The flipping plate and the flipping arm are bolted together and fixed. The flipping plate is rectangular in shape. The suction nozzles 62 are disposed on the inner side of the flipping plate. The four clamping arms 632 are respectively and corresponding to the four corners of the flipping plate. The clamping arms 632 are bolted together and fixed to the flipping plate. The clamping arms 632 are used to abut against the lower end face of the circuit board 200 and, together with the suction nozzles 62, to adsorb the upper end face of the circuit board 200, thereby forming a clamping of the upper and lower end faces of the circuit board 200. This improves the clamping stability of the circuit board 200 and prevents the circuit board 200 from loosening during the gripping and transfer process, which would cause the positioning of the circuit board 200 in the previous process to deviate, and thus affect the subsequent process of inserting the frame 100.

[0069] In addition, two straightening members 64 are positioned opposite each other on the two sides of the flip plate. The straightening members 64 are used to straighten the opposite sides of the circuit board 200 to prevent the circuit board 200 from bending and to improve the accuracy of the circuit board 200 insertion frame 100 to a certain extent.

[0070] It should be explained that the lifting assembly 70 includes a tilting drive motor 71 and a tilting lifting component. The tilting lifting component is connected to the tilting drive motor 71, and the output end of the tilting drive motor 71 is connected to the tilting arm. Specifically, with the cooperation of the suction nozzle 62, the clamping arm 63, and the straightening component 64, after the circuit board 200 is suctioned, gripped, and straightened from the suction plate position, the tilting lifting component drives the tilting drive motor 71, the tilting arm, the tilting plate, the suction nozzle 62, the clamping arm 63, the straightening component 64, and the circuit board 200 to rise. When it rises to a preset height, the tilting drive motor 71 is controlled to drive the tilting arm to rotate 90°, so that the circuit board 200 is rotated from a horizontal state to a vertical state. Align the circuit board 200 with the opening of the storage slot 101 on the insertion frame 100, and then control the flipping and lifting component to continue rising until the vertical circuit board 200 reaches the transfer position. This prepares the insertion frame assembly 20 for the next process to clamp the vertical circuit board 200 at the transfer position, thereby completing the docking of the circuit board 200. Specifically, after the circuit board 200 is flipped 90°, the telescopic cylinder 213 drives the clamping hook 212 to clamp the circuit board 200 at the transfer position. Finally, the suction nozzle 62 releases pressure, and the driving clamping cylinder moves the clamping arm 632 away from the circuit board 200, thereby transferring the circuit board 200 from the flipping assembly 60 to the insertion frame assembly 20, completing the docking action of the circuit board 200 and preparing for the next process.

[0071] Further reference Figure 12 The clamping arm 63 includes a clamping arm cylinder 631 and a clamping arm 632. The clamping arm cylinder 631 is connected to the flipping body 61, and the clamping arm 632 is rotatably connected to the flipping body 61. The clamping arm cylinder 631 drives the clamping arm 632 to rotate and connect with the flipping body 61, thereby causing the clamping arm 632 to abut against the lower end face of the circuit board 200, which improves the clamping stability of the circuit board 200 of the present invention.

[0072] In this embodiment, reference Figure 12 The clamping arm cylinder 631 is bolted to the flipping plate. The middle part of the clamping arm 632 is rotatably connected to the flipping plate. One end of the clamping arm 632 is connected to the output end of the clamping arm cylinder 631. The extension rod of the clamping arm cylinder 631 drives one end of the clamping arm 632 to move outward. The other end of the clamping arm 632 flips around the middle part and moves towards the lower end face of the circuit board 200 and abuts against it. Thus, combined with the structure of the suction nozzle 62 on the upper end face of the circuit board 200, a clamping structure is formed on the circuit board 200, reducing the risk of the circuit board 200 loosening during movement and improving the clamping stability when flipping the circuit board 200.

[0073] It needs to be explained that, firstly, the insertion frame 100 on the first conveying mechanism 300 is initially positioned by the limiting member 42, the lifting member 41, and the clamping member 43. The storage slot 101 of the insertion frame 100 is then opened by the clamping assembly 10, completing the precise positioning of the insertion frame 100. Secondly, the circuit board 200 on the second conveying mechanism 400 is precisely positioned by the lifting member 52 and the angle correction member 51. The circuit board 200 is then suctioned and straightened from the suction plate position by the suction cup assembly. Furthermore, the circuit board 200 is transferred to the transfer position by the lifting assembly 70, causing the circuit board 200 to flip from a horizontal state to a vertical state matching the opening of the storage slot 101. Then, the circuit board at the transfer position is positioned by the insertion frame assembly 20. The circuit board 200 is clamped and straightened, and inserted into the storage slot 101 of the insertion frame 100. Similarly, the storage slot 101 of the insertion frame 100 can be opened by the clamping assembly 10, and in conjunction with the insertion frame assembly 20, the lifting assembly 70 and the flipping assembly 60, the circuit board 200 is taken out from the storage slot 101 of the insertion frame 100. Then, the circuit board 200 in the storage slot 101 is reversed, thereby transferring the circuit board in the storage slot 101 to the second conveying mechanism 400. According to the above, firstly, the clamping assembly 10 can ensure that the opening and closing degree of each storage slot 101 is consistent, improve the opening and closing accuracy of the storage slot 101, and prevent the insertion frame assembly 20 from inserting or taking out the circuit board 200 for storage. When the circuit board 200 is inserted into the storage slot 101, friction or jamming with the storage plate or other components can occur, thus reducing the damage rate of the circuit board 200. Secondly, the structural design of the positioning component 30 can improve the overall precise positioning of the insertion frame 100, thereby ensuring that the placement position and angle of the insertion frame 100 match the circuit board 200. This improves the positioning accuracy of the insertion frame 100, thereby increasing the accuracy of inserting the circuit board 200 into the storage slot 101 and reducing the damage rate of the transferred circuit board 200. Thirdly, the structural design of the angle correction component 51 can correct the placement angle of the circuit board 200, preventing the circuit board 200 from rubbing against the insertion frame after being picked up and transferred to the transfer position. The relative angle of 100 is not precise enough. Therefore, by correcting the placement angle of the circuit board 200 before gripping, the positioning accuracy of the circuit board 200 can be improved to a certain extent, thereby matching the opening angle of the circuit board 200 with that of the storage slot 101. Thus, the present invention improves the accuracy of inserting or removing the circuit board 200 into or from the storage slot 101. Fourthly, the structural design of the tension member 22 and the straightening member 64 can prevent the circuit board 200 itself from bending, which would cause friction between the bent part of the circuit board 200 and the inner side of the storage plate when the circuit board 200 is inserted into or removed from the storage slot 101. Therefore, the present invention can reduce the damage rate of the circuit board 200 caused by wear when it is inserted into or removed from the storage slot 101.

[0074] As can be seen from the above points one, two, three, and four, by improving the overall positioning of the insertion frame 100 and the opening and closing degree of each storage slot 101, combined with improving the placement angle of the circuit board 200 itself and the angle of insertion into the storage slot 101, the accuracy of the circuit board insertion frame storage machine when inserting or removing the circuit board 200 from the insertion frame 100 is improved, and the wear rate of the circuit board 200 during the transfer process is reduced.

[0075] Secondly, refer to Figure 16 The present invention also proposes a conveying system, including the high-precision circuit board frame pick-and-place machine described above, specifically including a first pick-and-place machine 500 and a second pick-and-place machine 501, and further including a board receiving mechanism 600, a board feeding mechanism 700, a frame docking mechanism 800, and a frame circulation mechanism 900. The output ends of the board receiving mechanism 600 and the frame circulation mechanism 900 are respectively docked with the first pick-and-place machine 500. The first pick-and-place machine 500 is used to transfer the circuit board 200 fed by the board receiving mechanism 600 to the empty frame 100 fed by the frame circulation mechanism 900.

[0076] The input ends of the board feeding mechanism 700 and the frame circulation mechanism 900 are respectively connected to the second board picker 501. The second board picker 501 is used to transfer the circuit board 200 in the frame 100 to the board feeding mechanism 700 so that the frame circulation mechanism 900 can temporarily store the empty frame 100 for subsequent delivery to the first board picker 500.

[0077] The two ends of the insertion frame docking mechanism 800 are respectively docked with the first board picker 500 and the second board picker 501. The insertion frame docking mechanism 800 is used to transfer the insertion frame 100 filled with circuit boards 200 in the first board picker 500 to the next process for processing, and to transfer the insertion frame 100 after the next process is completed to the second board picker 501.

[0078] It should be explained that the first board picker 500 and the second board picker 501 in this invention are both high-precision board frame picker 501 as described above, forming the conveying system of this invention. The conveying system of this invention is used to insert the dispersed board 200 into the frame 100, and then convey the frame 100 filled with board 200 to the next processing station for processing. After the next process has processed the board 200 in the frame 100, the processed board 200 is taken out from the frame 100. With the assistance of this invention, board 200 can be placed into the frame 100 for batch processing. Compared with processing individual board 200, this invention can improve the processing efficiency of the next process for board 200.

[0079] In this embodiment, the first board picker / placer 500 and the second board picker / placer 501 have identical structures. The first board picker / placer 500 inserts the bulk circuit board 200 into the storage slot 101 of the insert frame 100, while the second board picker / placer 501 removes the circuit board 200 from the storage slot 101 of the insert frame 100 and transfers it to the board feeding mechanism 700. This structural arrangement of the first and second board picker / placers 500 improves the accuracy of inserting or removing the circuit board 200 from the insert frame 100. Specifically… The board receiving mechanism 600 can be a board placement machine, and the board placement machine is connected to the input end of the second conveying mechanism 400 of the first board picker-and-place machine 500. The board receiving mechanism 600 is used to convey the circuit board 200 to the first board picker-and-place machine 500. The board sending mechanism 700 can be a board receiving machine, and the board receiving machine is connected to the output end of the second conveying mechanism 400 of the second board picker-and-place machine 501. The board sending mechanism 700 is used to send away the circuit board 200 output by the second board picker-and-place machine 501. In addition, the insertion frame circulation mechanism 900 is used to collect and temporarily store the insertion frames 100.

[0080] The input end of the insertion frame circulation mechanism 900 is connected to the output end of the first conveying mechanism 300 of the second board picker 501, and the output end of the insertion frame circulation mechanism 900 is connected to the input end of the first conveying mechanism 300 of the first board picker 500. The insertion frame 100 (empty frame) output by the second board picker 501 is collected and temporarily stored by the insertion frame circulation mechanism 900. The insertion frame 100 (empty frame) stored in the insertion frame circulation mechanism 900 is also transported to the first board picker 500 so that the first board picker 500 can insert the bulk circuit board 200 into the storage slot 101 of the insertion frame 100.

[0081] Finally, the input end of the insertion frame docking mechanism 800 is docked with the output end of the first conveying mechanism 300 of the first board picker 500, and the output end of the insertion frame docking mechanism 800 is docked with the input end of the first conveying mechanism 300 of the second board picker 501. The insertion frame docking mechanism 800 is also docked with the next process processing equipment. Thus, the insertion frame 100 filled with circuit boards 200 is conveyed from the first board picker 500 to the next process processing equipment for processing through the insertion frame docking mechanism 800. After the processing is completed by the next process processing equipment, the insertion frame docking mechanism 800 conveys the insertion frame 100 filled with circuit boards 200 from the next process processing equipment to the second board picker 501.

[0082] More specifically, the board receiving mechanism 600 conveys the bulk circuit boards 200 to the second conveying mechanism 400 of the first board pick-and-place machine 500 via a conveyor belt. Combined with the frame circulation mechanism 900, the frame 100 (empty frame) is conveyed to the first conveying mechanism 300 of the first board pick-and-place machine 500 via a conveyor belt. Then, considering the structural arrangement of the clamping assembly 10, the translation assembly 80, and the frame 100 assembly of the first board pick-and-place machine 500, the circuit boards 200 conveyed by the board receiving mechanism 600 are transferred to the frame 100 (empty frame). After the frame 100 is filled with circuit boards 200, the frame docking mechanism 800 conveys the filled frame 100 to the processing station of the next processing equipment. After the next processing equipment completes the processing of the circuit boards 200 in the frame 100... The insertion frame 100, filled with circuit boards 200, is then transported by the insertion frame docking mechanism 800 to the first conveying mechanism 300 of the second board pick-and-place machine 501. The clamping assembly 10, the translation assembly 80, and the insertion frame 100 assembly of the second board pick-and-place machine 501 cooperate to remove the circuit boards 200 from the insertion frame 100 and transfer them to the second conveying mechanism 400 of the second board pick-and-place machine 501. The circuit boards 200 are then transported from the output end of the second conveying mechanism 400 to the board feeding mechanism 700. In addition, the first conveying mechanism 300 of the second board pick-and-place machine 501 transfers the insertion frame 100, which has been filled with circuit boards 200, to the temporary storage position of the insertion frame circulation mechanism 900. This process is repeated, and the insertion frame circulation mechanism 900 continues to send the insertion frame 100 (empty frame) to the first conveying mechanism 300 of the first board pick-and-place machine 500. Therefore, by storing individual circuit boards 200 within the insertion frame 100 for batch processing, the efficiency of processing the circuit boards 200 in the next process is improved. At the same time, by using a high-precision circuit board 200 insertion frame 100 pick-and-place machine as the first pick-and-place machine 500 and the second pick-and-place machine 501, the accuracy of inserting or removing the circuit board 200 from the insertion frame 100 is improved, reducing wear between the circuit board 200 and the insertion frame 100. This reduces the breakage rate when transferring and conveying circuit boards 200 in batches through the insertion frame 100, and also improves the yield rate of the circuit board 200 in the production process to a certain extent.

[0083] Further reference Figure 17-18 The insertion frame circulation mechanism includes several storage cabinets. Each storage cabinet includes storage positions arranged in multiple layers in the height direction, an insertion frame conveyor belt, and an insertion frame lifting assembly. The input end of the insertion frame conveyor belt is connected to the second pick-and-place machine, and the output end of the insertion frame conveyor belt is connected to the first pick-and-place machine. The insertion frame conveyor belt is used to drive the insertion frames to move horizontally.

[0084] The insertion frame lifting assembly is set perpendicular to the insertion frame conveyor belt. The insertion frame lifting assembly is used to move the insertion frames on the insertion frame conveyor belt vertically, so that the insertion frames are transferred to the storage positions set in multiple layers.

[0085] In this embodiment, reference Figure 17 and Figure 18 The storage cabinet has a first storage layer and a second storage layer in the vertical direction. Each of the first and second storage layers is equipped with a frame lifting assembly. The longitudinal direction of the storage layer is perpendicular to the longitudinal direction of the frame conveyor belt, and both ends of the conveyor belt are connected to the first and second board pick-and-place machines, respectively. This allows empty frames to be transferred from the second board pick-and-place machine to the first board pick-and-place machine. Additionally, the frame lifting assembly is positioned corresponding to the frame conveyor belt to transfer unused (empty) frames to the storage layer for temporary storage. Through the structural arrangement of the frame lifting assembly, storage layers, and frame conveyor belt, this invention allows empty frames to be temporarily stored in the storage cabinet, reducing manual collection of empty frames, lowering labor costs in the circuit board production process, and simultaneously improving automation.

[0086] In some embodiments, reference Figure 17 and Figure 18 The storage position is equipped with a frame transfer component, which is used to move the frame in the vertical direction of the storage position. Specifically, after the frame lifting component raises or lowers the frame to the corresponding position, the frame transfer component transfers the frame along the vertical direction of the storage position, so that multiple frames can be stored in one storage position.

[0087] The overall process flow of the conveyor system needs to be explained as follows:

[0088] The board receiving mechanism 600 connects with the PCB conveyor belt, transporting the circuit board 200 to the first conveyor mechanism 300 of the first board pick-and-place machine 500. The circuit board 200 is stopped at the board receiving position of the PCB conveyor belt. Then, through the clamping assembly 10, the translation assembly 80, and the insertion frame 100 assembly, the circuit board 200 is inserted one by one into the insertion frame 100. After two insertion frames 100 are filled, the insertion frame circulation mechanism 900 sends the insertion frame 100 to the interface of the next processing step. The relevant transfer mechanism of the next processing equipment transfers the two insertion frames 100 into the processing equipment for the main process. After the main process is completed, the two full-board insert frames 100 are sent back to the main process interface. The insert frame docking mechanism 800 then sequentially sends the two full-board insert frames 100 to the second conveying mechanism 400 of the second board pick-and-place machine 501. The circuit boards 200 in the insert frames 100 are transferred to the first conveying mechanism 300 of the second board pick-and-place machine 501 through the clamping assembly 10, the translation assembly 80 and the insert frame 100 assembly. Then the processed circuit boards 200 are conveyed from the first conveying mechanism 300 to the board feeding mechanism 700, thus completing the batch conveying process of the conveying system for the circuit boards 200.

[0089] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

[0090] The present invention has been described above with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A high-precision circuit board insertion frame pick-and-place machine, comprising a first conveying mechanism and a second conveying mechanism for conveying insertion frames and circuit boards, characterized in that, It also includes an opening clamp assembly connected to the first conveying mechanism. The opening clamp assembly includes a high-precision drive component and a push component connected to the high-precision drive component. The high-precision drive component is used to drive the push component to push the clamp to open the storage slot of the insertion frame. The high-precision drive component includes a servo motor and a lead screw connected to the output end of the servo motor. The axis of the lead screw is parallel to the longitudinal direction of the first conveying mechanism. The pusher is sleeved on the lead screw and threadedly connected to the lead screw. The pusher is slidably connected to the first conveying mechanism. By controlling the servo motor to rotate the lead screw, the pusher reciprocates along the axis of the lead screw. The first conveying mechanism has opening and clamping assemblies on both sides. The high-precision drive components on both sides drive the corresponding pushers to move in the same direction with the same speed and moving distance, so that the moving distance of the storage plates on both sides of the storage slot is equal, thereby ensuring that the opening and closing degree of each storage slot is equal. The insertion frame assembly and the translation assembly are connected to the first conveying mechanism. The insertion frame assembly includes an insertion frame member, which is connected to the first conveying mechanism. The translation assembly is connected to the first conveying mechanism. The translation assembly is used to adjust the relative position between the insertion frame member and the insertion frame. Both the translation assembly and the insertion frame are provided with a sensor alignment module. When the translation assembly moves the insertion frame member to a set position, the sensor alignment module issues a command to stop the translation assembly from translating, so that the circuit board on the insertion frame member is located directly above the opening of the storage slot. The insert frame is used to feed and remove the circuit board into and out of the insert frame storage slot; The first conveying mechanism further includes a positioning component, which includes eight positioning drive components and eight positioning clamping components connected to the positioning drive components. The positioning drive components drive the positioning clamping components to position and fix the insert frame. Specifically, the positioning drive component includes a positioning drive cylinder, and the positioning clamping component includes a positioning clamping block. The positioning clamping block is connected to the output end of the positioning drive cylinder. The positioning clamping block is provided with two clamping wheels, which are arranged perpendicularly to each other. The positioning drive cylinder is connected to the insert frame component and controls the extension arm of the positioning drive cylinder to extend, causing the positioning clamping block to abut against the outer side of the insert frame. The insert frame is rectangular in shape. The eight positioning drive components drive the eight positioning clamping components to abut against the eight corners of the upper and lower end faces of the outer side of the insert frame, thereby clamping and positioning the insert frame.

2. The high-precision circuit board insertion frame pick-and-place machine according to claim 1, characterized in that, The insert frame includes a clamping plate, a clamping hook, and a telescopic cylinder corresponding to the clamping hook. The clamping hook is rotatably connected to the clamping plate, and the telescopic cylinder is used to drive the clamping hook to clamp the circuit board at the transition position or in the insert frame storage slot.

3. The high-precision circuit board insertion frame pick-and-place machine according to claim 2, characterized in that, The insert frame assembly further includes a tensioning member and a lifting member. The tensioning member is connected to the lifting member and is used to straighten the circuit board held by the clamping hook. The clamping plate is connected to the lifting member and is used to drive the clamping member and the tensioning member to move up and down.

4. The high-precision circuit board insertion frame pick-and-place machine according to claim 1, characterized in that, The first conveying mechanism further includes a conveying roller component, a lifting component, a limiting component, and a clamping component. The lifting component, the limiting component, and the clamping component are respectively connected to the conveying roller component. The limiting component is used to stop the insertion frame from moving on the conveying roller component. The clamping component is used to cooperate with the limiting component to clamp and limit the stopped insertion frame. The lifting component is used to lift the stopped insertion frame and disengage it from the conveying roller component.

5. A high-precision circuit board insertion frame pick-and-place machine according to any one of claims 1-4, characterized in that, The second conveying mechanism further includes a conveyor belt assembly and angle correction components disposed on both sides of the conveyor belt assembly. The angle correction components are connected to the conveyor belt assembly and are used to correct the angle of the circuit board moving on the conveyor belt. The second conveying mechanism further includes a lifting member located at the end of the conveyor belt assembly. The lifting member includes a lifting cylinder and a lifting disc connected to the lifting cylinder. The lifting cylinder is used to drive the lifting disc to lift the circuit board away from the conveyor belt assembly.

6. A high-precision circuit board insertion frame pick-and-place machine according to claim 5, characterized in that, The board pick-and-place machine also includes a flipping assembly for picking up and transferring the circuit board. The flipping assembly includes a flipping body, which is provided with a plurality of suction nozzles for negative pressure adsorption of the upper surface of the circuit board.

7. A high-precision circuit board insertion frame pick-and-place machine according to claim 6, characterized in that, The flipping assembly further includes a clamping arm and a straightening member. The clamping arm is connected to the flipping body and is used to abut against the lower end face of the circuit board. The straightening component is connected to the flipping body and is used to straighten the circuit board to prevent it from bending.

8. A conveying system, characterized in that, The high-precision circuit board frame pick-and-place machine according to any one of claims 1-7 includes a first pick-and-place machine and a second pick-and-place machine, and further includes a board receiving mechanism, a board feeding mechanism, a frame docking mechanism, and a frame circulation mechanism. The output ends of the board receiving mechanism and the frame circulation mechanism are respectively docked with the first pick-and-place machine. The first pick-and-place machine is used to transfer the circuit board fed by the board receiving mechanism to the frame fed by the frame circulation mechanism. The input ends of the board feeding mechanism and the frame circulation mechanism are respectively connected to the second board picker and place machine. The second board picker and place machine is used to transfer the circuit board in the frame to the board feeding mechanism so that the frame circulation mechanism can temporarily store the empty frame and then transport it to the first board picker and place machine. The two ends of the insertion frame docking mechanism are respectively docked with the first board picker and the second board picker. The insertion frame docking mechanism is used to transfer the insertion frame filled with circuit boards in the first board picker to the next process, and to transfer the insertion frame after the next process is completed to the second board picker.

9. A conveying system according to claim 8, characterized in that, The insertion frame circulation mechanism includes several storage cabinets. Each storage cabinet includes storage positions arranged in multiple layers in the height direction, an insertion frame conveyor belt, and an insertion frame lifting assembly. The input end of the insertion frame conveyor belt is connected to the second pick-and-place machine, and the output end of the insertion frame conveyor belt is connected to the first pick-and-place machine. The insertion frame conveyor belt is used to drive the insertion frames to move horizontally. The insertion frame lifting assembly is arranged perpendicular to the insertion frame conveyor belt. The insertion frame lifting assembly is used to move the insertion frames on the insertion frame conveyor belt vertically, so that the insertion frames are transferred to the storage positions arranged in multiple layers.

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